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Stock-Based Incentive Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2018
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |
Schedule of Stock Option Activity | The following table summarizes stock option activity for the year ended December 31, 2018 for all stock plans:
| Options Outstanding
| Number of Shares |  | Weighted-Average Exercise Price |  | Weighted-Average Contractual Remaining Life |  | Aggregate Intrinsic Value
|  |  |  |  | (Years) |  | (in thousands)
Balances at December 31, 2017 | 3,001,929 |  |  | $ | 4.15 |  |  |  |  | $ | 3,585 |
Options granted | 100,080 |  |  | $ | 8.88 |  |  |  |  |
Options exercised | (395,117 | ) |  | $ | 4.08 |  |  |  |  |
Options canceled | (65,694 | ) |  | $ | 4.81 |  |  |  |  |
Balances at December 31, 2018 | 2,641,198 |  |  | $ | 4.27 |  |  | 6.6 |  | $ | 43,905 |
Options vested and exercisable - December 31, 2018 | 1,762,687 |  |  | $ | 3.73 |  |  | 5.9 |  | $ | 41,882 |
Options vested and expected to vest - December 31, 2018 | 2,366,723 |  |  | $ | 4.14 |  |  | 6.5 |  | $ | 40,154 |
Schedule of Stock-Based Compensation | The following table sets forth stock-based compensation expense recognized for the periods presented (in thousands):
|  |  | Year ended December 31,
|  |  | 2018 |  | 2017
Cost of goods sold |  |  | $ | 34 |  |  | $ | 23 |
Research and development |  |  | 156 |  |  | 143 |
Sales and marketing |  |  | 651 |  |  | 438 |
General and administrative |  |  | 1,471 |  |  | 1,271 |
|  |  | $ | 2,312 |  |  | $ | 1,875 |
Schedule of Valuation Assumptions Related to Stock Option Awards | The grant date fair value of the stock option awards granted to employees was estimated at the date of grant using a Black-Scholes option-pricing model with the following assumptions:
| Year ended
| December 31,
| 2018 |  | 2017
Expected term | 6.17 |  | 5.71
Expected volatility | 42%-47% |  | 42%-55%
Risk-free interest rate | 2.35%-2.96% |  | 1.73%-2.31%
Dividend yield | —% |  | —%
The assumptions used to determine the grant date fair value of employee stock options and ESPP purchase rights for the periods presented are as follows:
| Year ended
| December 31,
| 2018 |
Expected term | 0.5 |
Expected volatility | 43.96% |
Risk-free interest rate | 2.49% |
Dividend yield | —% |
Schedule of Restricted Stock Unit Activity | The following table summarizes restricted stock units activity for the year ended December 31, 2018:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value
Unvested as of December 31, 2017 |  | — |  |  | $ | — |
Granted |  | 54,036 |  |  | $ | 11.79 |
Forfeited |  | (600 | ) |  | 20.60 |
Vested |  | — |  |  | $ | — |
Unvested as of December 31, 2018 |  | 53,436 |  |  | $ | 11.69 |

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- Definition Tabular disclosure for share-based compensation plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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